System information

82 | Alarm system

The values in the table are factory set (default) and listed

for information only. After having performed the

Autotune, the values may differ from those listed in the

table. See also “Autotune” previously in this chapter.

The two most important parameters that determine the

performance of the automatic steering are Rudder and

Counter Rudder.

Rudder

sets the rudder gain which is the ratio between

the commanded angle and the heading error.

• Too little Rudder and the autopilot fails to keep a

steady course

• Too much Rudder gives unstable steering and reduces

speed

• Low speed requires more rudder than high speed

See also “Minimum Rudder” on page 83.

Counter Ru

dder

is the parameter that counteracts the

effect of the boat’s turn rate and inertia. For a short time

period it is superimposed on the proportional rudder

response caused by the heading error. It may sometimes

appear as if it tends to make the rudder move to the

wrong side (counter rudder).

The best way of checking the value of the Counter

Rudder setting is when making turns. The figures

illustrate the effects of various Counter Rudder settings.

Too little Rudder

Too much rudder

Course to steer